The Grammy award-winning singer, 33, appeared on "Good Morning America" on Wednesday where viewers got a first glimpse of the music video which was reportedly shot in Maplewood, New Jersey. In the clip the happy trio is seen singing and dancing with a crowd.

"Working together with Destiny's Child again was amazing … It was so much fun!" Williams told GMA.

"Say Yes," which is an up-tempo gospel track, is from Williams' upcoming album, Journey To Freedom. The song is a remix on the Nigerian gospel hymn "When Jesus Says Yes."

"It was the most fun. I love it when we're all around each other. I'm really excited about the song," Williams said of working with Beyonce and Kelly.

"Kelly was finishing up X Factor. B was on tour. She literally did it before she had a show that night," she explained. "She did the vocals immediately. That's the great thing about technology."

The trio is seen busting out an African-inspired dance routine throughout the 4:21-minute clip alongside professional dancers.

"This song is so inspiring, and there's not enough music out there like this, and I'm proud to be a part of it," Beyonce told GMA with Kelly adding "[It's infectious] … I think the world needs to hear it."

The catchy song blends West African gospel with contemporary dance music and features uplifting and inspiring lyrics about the power of faith.

"I'm not worried 'bout a thing / 'Cause I know You are guiding me / Where You lead me Lord I will go / I have no fear cause I know who's in control," Beyonce sings.

"'Cause he's in control / There's no limit to what you can do / 'Cause it all belongs to you, yes it all belongs to you," Kelly sings.